Subretinal injection methods and other procedures for treating retinal conditions diseases (many considered incurable) have been limited in scope due to human motor control. This study demonstrates the next generation, cooperatively controlled Steady-Hand Eye Robot (SHER 3.0), a precise intuitive-to-use robotic platform achieving clinical standards targeting accuracy resolution subretinal injections. The system design basic kinematics are reported deflection model incorporated delta stage...

High precision is required for ophthalmic robotic systems. This paper presents the kinematic calibration delta robot which part of next generation Steady-Hand Eye Robot (SHER). A linear error model derived based on geometric parameters. Two experiments with different ranges workspace are conducted laser sensors measuring displacement. The parameters identified and applied in kinematics to compensate modeling error. To achieve better accuracy, Bernstein polynomials adopted fit residuals after...

Calibrating the inverse kinematics of complex robots is often a challenging task. Finding analytical solutions not always possible and convergence numerical methods guaranteed. The model-free approaches, based on machine learning artificial intelligence, are fast easy to work, however, they need huge amount experimental training data provide acceptable results. In this article, we proposed hybrid method benefit advantage both model-based approaches. forward robot calibrated using approach,...

Sina is a robotic telesurgery system that accepts and works with conventional laparoscopic tools at its endeffector.This paper describes the design analysis of an adapting mechanism for Sina, to enable manipulating manual wristed instrument, i.e., Laparo-Angle by system.After identification kinematics dynamics characteristics experimentally, .thedesign considerations mechanism, including compatibility instrument (at one side) host arm other side), required features, ease tool replacement,...

In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used large organ manipulation and capable of measuring the tool-tissue forces. RCM constraint achieved using spherical mechanism roll insertion motions are provided time pulley spindle-drive, respectively. forward inverse kinematics was solved dimensions its links were determined, particle swarm optimization method, so that maximum...

To have a complete model of thunniform Fish-Robot, models both body and tail are required. The dynamic the is developed according to parameters Fish-Robot built in MIT University, while, as main part this paper, using fuzzy logic. Using experimental data table look-up scheme, black box introduced that gives value thrust force generated for any Fish-Robot's input parameters: frequency oscillation, amplitude oscillation speed Fish-Robot. In second part, trajectory controller designed output...

Cooperative robotic systems for vitreoretinal surgery can enable novel surgical approaches by allowing the surgeon to perform procedures with enhanced stabilization and high accuracy tool movements. This paper presents optimization design of a four-bar linkage type tilt mechanism Steady-Hand Eye Robot (SHER) which be used equivalently on both, left right patient side, during bilateral approach two robots. In this optimization, it is desirable limit workspace needed compensation motions that...

Retinal vein cannulation is a technically demanding surgical procedure and its feasibility may rely on using advanced robots equipped with force-sensing microneedles. Reliable detection of the moment venous puncture important, to either alert or prevent clinician from double puncturing vessel damaging retinal surface beneath. This paper reports first in-vivo trial rabbit eyes, sensorized metal needles, investigates detection.We utilized total four indices including two previously...

<div>Replacement of the exclusively designed instruments robotic surgery systems with commercial hand-held wristed provides advantages such as single-usability and cost reduction. A 4-DOF system, based on a modified non-symmetric 2-DOF agile-eye mechanism, was developed to manipulate instruments. The kinematics mechanism analyzed, its dimensions were optimized, functional prototype tested experimentally. optimized had great kinematic isotropy (condition number <1.31) in target...

Subretinal injection methods and other procedures for treating retinal conditions diseases (many considered incurable) have been limited in scope due to human motor control. This study demonstrates the next generation, cooperatively controlled Steady-Hand Eye Robot (SHER 3.0), a precise intuitive-to-use robotic platform achieving clinical standards targeting accuracy resolution subretinal injections. The system design basic kinematics are reported deflection model incorporated delta stage...

<div>Replacement of the exclusively designed instruments robotic surgery systems with commercial hand-held wristed provides advantages such as single-usability and cost reduction. A 4-DOF system, based on a modified non-symmetric 2-DOF agile-eye mechanism, was developed to manipulate instruments. The kinematics mechanism analyzed, its dimensions were optimized, functional prototype tested experimentally. optimized had great kinematic isotropy (condition number <1.31) in target...